[22792] Refactor DDS Router Documentation

[depink5]

This PR includes some changes to the DDS Router Documentation.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 30.24%. Comparing base (9d03cc8) to head (066f426).
Report is 9 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #496      +/-   ##
==========================================
- Coverage   31.14%   30.24%   -0.90%     
==========================================
  Files          16       16              
  Lines         594      562      -32     
  Branches      321      298      -23     
==========================================
- Hits          185      170      -15     
+ Misses        213      205       -8     
+ Partials      196      187       -9     

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